mirror of
https://github.com/bulletphysics/bullet3
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116 lines
4.6 KiB
C++
116 lines
4.6 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library Maya Plugin
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Copyright (c) 2008 Walt Disney Studios
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising
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from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must
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not claim that you wrote the original software. If you use this
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software in a product, an acknowledgment in the product documentation
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would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must
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not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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Written by: Nicola Candussi <nicola@fluidinteractive.com>
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Modified by Roman Ponomarev <rponom@gmail.com>
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01/22/2010 : Constraints reworked
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*/
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//solver.h
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//basic class for all solvers
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#ifndef DYN_SOLVER_H
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#define DYN_SOLVER_H
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#include <set>
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#include "mathUtils.h"
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#include "shared_ptr.h"
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#include "rigid_body.h"
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#include "sphere_shape.h"
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#include "plane_shape.h"
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#include "box_shape.h"
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#include "convex_hull_shape.h"
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#include "mesh_shape.h"
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#include "constraint/nail_constraint.h"
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#include "solver_impl.h"
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#include "constraint/hinge_constraint.h"
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#include "constraint/slider_constraint.h"
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#include "constraint/sixdof_constraint.h"
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class solver_t
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{
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public:
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static void initialize();
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static void cleanup();
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//creation methods
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static sphere_shape_t::pointer create_sphere_shape(float radius = 1.0);
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static plane_shape_t::pointer create_plane_shape(vec3f const& normal = vec3f(0, 1, 0), float d = 0);
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static box_shape_t::pointer create_box_shape(vec3f const& halfExtents = vec3f(0.5f, 0.5f, 0.5f));
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static convex_hull_shape_t::pointer create_convex_hull_shape(vec3f const* vertices, size_t num_vertices,
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vec3f const* normals,
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unsigned int const *indices, size_t num_indices);
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static mesh_shape_t::pointer create_mesh_shape(vec3f const* vertices, size_t num_vertices,
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vec3f const* normals,
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unsigned int const *indices, size_t num_indices);
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static rigid_body_t::pointer create_rigid_body(collision_shape_t::pointer& cs);
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static nail_constraint_t::pointer create_nail_constraint(rigid_body_t::pointer& rb, vec3f const& pivot);
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static nail_constraint_t::pointer create_nail_constraint(rigid_body_t::pointer& rbA, rigid_body_t::pointer& rbB, vec3f const& pivotInA, vec3f const& pivotInB);
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static hinge_constraint_t::pointer create_hinge_constraint(rigid_body_t::pointer& rb, vec3f const& pivot, quatf const& rot);
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static hinge_constraint_t::pointer create_hinge_constraint(rigid_body_t::pointer& rbA, vec3f const& pivotA, quatf const& rotA, rigid_body_t::pointer& rbB, vec3f const& pivotB, quatf const& rotB);
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static slider_constraint_t::pointer create_slider_constraint(rigid_body_t::pointer& rb, vec3f const& pivot, quatf const& rot);
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static slider_constraint_t::pointer create_slider_constraint(rigid_body_t::pointer& rbA, vec3f const& pivotA, quatf const& rotA, rigid_body_t::pointer& rbB, vec3f const& pivotB, quatf const& rotB);
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static sixdof_constraint_t::pointer create_sixdof_constraint(rigid_body_t::pointer& rb, vec3f const& pivot, quatf const& rot);
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static sixdof_constraint_t::pointer create_sixdof_constraint(rigid_body_t::pointer& rbA, vec3f const& pivotA, quatf const& rotA, rigid_body_t::pointer& rbB, vec3f const& pivotB, quatf const& rotB);
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//add/remove from world
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static void add_rigid_body(rigid_body_t::pointer& rb);
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static void remove_rigid_body(rigid_body_t::pointer& rb);
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static void remove_all_rigid_bodies();
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//add/remove from world
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static void add_constraint(constraint_t::pointer& c);
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static void remove_constraint(constraint_t::pointer& c);
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static void remove_all_constraints();
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//
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static void set_gravity(vec3f const& g);
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//
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static void set_split_impulse(bool enabled);
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//
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static void step_simulation(float dt);
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static void debug_draw(int dbgMode);
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static shared_ptr<solver_impl_t> get_solver();
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private:
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static shared_ptr<solver_impl_t> m_impl;
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static std::set<rigid_body_t::pointer> m_rigid_bodies;
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static std::set<constraint_t::pointer> m_constraints;
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};
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#endif
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